KEYWORDS: Electronic filtering, Signal detection, Unmanned ground vehicles, Received signal strength, Interference (communication), Signal attenuation, Unmanned vehicles, Statistical analysis, Detection and tracking algorithms, Receivers
The number of missions in which unmanned vehicles are required to work collaboratively is increasing. In these
applications, maintaining continuous communication among the vehicles is crucial. Wireless Mobile Ad Hoc Networks
are being used in swarming platforms of unmanned vehicles given the increased range of coverage and the extra
reliability that they provide. However, autonomous navigation includes the possibility of vehicles going out of
communication range, producing network partitions and hindering the mission's success. In this paper, a new algorithm
is proposed that uses the Received Signal Strength (RSSI) to determine when the vehicle has to modify its mobility
pattern to remain in contact with the rest of the group. The algorithm, implemented in a platform of unmanned ground
vehicles, was tested in indoor and outdoor environments. The results show that the proposed algorithm can effectively
filter out unexpected propagation effects and provide a smooth estimate of the signal strength that the vehicles can use to
control their mobility and maintain their connectivity at all times. In addition, the algorithm is simple to implement and
has low computational requirements.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.